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#!/usr/bin/env python3 from ev3dev.ev3 import * from time import sleep mR = LargeMotor('outC') mL = LargeMotor('outA') csR = ColorSensor('in1') csL = ColorSensor('in2') arm = LargeMotor('outD') hand = MediumMotor('outB')
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def migi(a): sleep(1) mR.run_timed(speed_sp=100, time_sp=a, stop_action='brake') def hidari(b): sleep(1) mL.run_timed(speed_sp=100, time_sp=b, stop_action='brake')
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def bihidari(c): mR.run_timed(time_sp=c, speed_sp=100, stop_action='brake') mL.run_timed(time_sp=c, speed_sp=-100, stop_action='brake') def bimigi(d): mR.run_timed(time_sp=d, speed_sp=-100, stop_action='brake') mL.run_timed(time_sp=d, speed_sp=100, stop_action='brake')
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def koutai(e): mR.run_timed(speed_sp=-100, time_sp=e, stop_action='brake') mL.run_timed(speed_sp=-100, time_sp=e, stop_action='brake') def zensin(f): mR.run_timed(speed_sp=100, time_sp=f, stop_action='brake') mL.run_timed(speed_sp=100, time_sp=f, stop_action='brake') sleep(1)
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def zensin_forever(g): mR.run_forever(speed_sp=g, stop_action='brake') mL.run_forever(speed_sp=g, stop_action='brake')
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def Trace_Method(): while True: if csL.value() >= 15 and csR.value() >= 15: zensin_forever(100) sleep(0.1) elif csL.value() <= 14 and csR.value() >= 15: bihidari(100) sleep(0.1) elif csL.value() >= 15 and csR.value() <= 14: bimigi(100) elif csL.value() >= 15 and csR.value() <= 14: bimigi(100) sleep(0.1) else: mR.stop() mL.stop() sleep(0.1) break
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def main(): Trace_Method() sleep(0.1) zensin_forever(100) sleep(4) mL.stop() mR.stop() bihidari(1900) sleep(2.1)
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Trace_Method() sleep(0.1) zensin_forever(100) sleep(0.3) mL.stop() mR.stop()
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arm.reset() sleep(0.1) arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake') sleep(3) arm.reset() arm.run_to_rel_pos(position_sp=-160, speed_sp=250, stop_action='brake') hand.reset() sleep(2) arm.reset() arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake') sleep(2) hand.run_to_rel_pos(position_sp=80, speed_sp=300, stop_action='brake')#'1' sleep(1) arm.reset() arm.run_to_rel_pos(position_sp=-160, speed_sp=100, stop_action='brake') sleep(3)
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bihidari(2000) sleep(3) zensin_forever(100) sleep(3) mR.stop() mL.stop() sleep(1)
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Trace_Method() sleep(1) koutai(800) sleep(1) koutai(800) sleep(1)
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arm.reset() arm.run_to_rel_pos(position_sp=160, speed_sp=120, stop_action='brake') sleep(2) hand.reset() hand.run_to_rel_pos(position_sp=-2000, speed_sp=1000, stop_action='brake') sleep(5) arm.reset() arm.run_to_rel_pos(position_sp=-160, speed_sp=120, stop_action='brake')
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